Systems and methods for annotating maps to improve sensor calibration

System, methods, and other embodiments described herein relate to improving calibration of an onboard sensor of a vehicle. In one embodiment, a method includes, in response to acquiring sensor data from a surrounding environment of the vehicle using the onboard sensor, analyzing the sensor data to determine calibration parameters for the onboard sensor. The method includes identifying a suitability parameter that characterizes how well the surrounding environment provides for determining the calibration parameters. The method includes generating annotations within a map that specify at least the suitability parameter for a location associated with the sensor data. In further aspects, the method includes identifying, from the map, a calibration route for the vehicle that is a deviation from a current route in response to determining that the calibration state of the onboard sensor does not satisfy the calibration threshold.